CN113607191A - Reliability determination method for long-term power-up gyro accelerometer of three-floating-platform system - Google Patents
Reliability determination method for long-term power-up gyro accelerometer of three-floating-platform system Download PDFInfo
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Abstract
A reliability determination method for a long-term power-on gyro accelerometer of a three-floating platform system is a testing method for switching an open/closed state of a servo loop of the gyro accelerometer in the direction of the sky of an inertial platform system in an azimuth binding state after a platform is powered on. After the platform receives a command of 'switching off a servo loop of the gyro accelerometer in the sky' of a control system, a method for judging the return information of the platform state word is provided, and a method for judging the front-discharge output of the gyro accelerometer is continuously monitored by the platform; and after the platform receives a 'closed gyro accelerometer loop' instruction of the control system, the platform system main control software acquires the output time of the gyro accelerometer and a judgment method for judging the output of the gyro accelerometer by the platform.
Description
Technical Field
The invention relates to a method for judging the reliability of a long-term power-up gyro accelerometer of a three-floating platform system, and belongs to the technical field of inertia test.
Background
In a standby state, the gyro accelerometer is vertically upward in the direction of the sky, the gravity accelerometer is sensitive, when a servo loop of the gyro accelerometer is closed, an outer ring shaft of the gyro accelerometer continuously precesses, the outer ring friction condition is serious, the surplus of the outer ring shaft is increased, long-term abrasion of a brush wire and a conductive slip ring is caused, and a motor of the gyro accelerometer is blocked, so that the platform is in a risk of exiting from standby and exiting from hot standby after power failure. Meanwhile, in the gyro accelerometer closed loop method in the prior art, the closing of the gyro loop is completed in the power-on process of the platform, only the returned gyro plus table closed state word is taken as the standard for judging the closing, and the criterion for checking the disconnection of the gyro plus table is not given.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for judging the reliability of the gyro accelerometer of the three-floating platform system after long-term power-on overcomes the defects of the prior art, and is a test method for switching the open/closed state of a servo loop of the gyro accelerometer in the direction of the sky of the inertial platform system in the azimuth binding state after the platform is powered on. After the platform receives a command of 'switching off a servo loop of the gyro accelerometer in the sky' of a control system, a method for judging the return information of the platform state word is provided, and a method for judging the front-discharge output of the gyro accelerometer is continuously monitored by the platform; and after the platform receives a 'closed gyro accelerometer loop' instruction of the control system, the platform system main control software acquires the output time of the gyro accelerometer and a judgment method for judging the output of the gyro accelerometer by the platform.
The purpose of the invention is realized by the following technical scheme:
the embodiment of the invention provides a method for judging the reliability of a long-term power-on gyro accelerometer of a three-floating platform system, which is divided into an off-day gyro accelerometer state and an on-day gyro accelerometer state and comprises the following steps:
and (3) testing the state of the gyro accelerometer in the direction of the disconnected sky:
s10, the platform keeps an azimuth binding state, and the acceleration meter of the top in the direction of the sky is in a closed state;
s11, when an order of the zenith gyroscope accelerometer is received, if the platform returns to a good disconnection state to the outside within the preset disconnection time, the platform is switched to S12, otherwise the test of the zenith gyroscope accelerometer state is unqualified;
s12, collecting a front discharge current value of the zenith gyroscope accelerometer, if the collected front discharge current value does not exceed a preset front discharge current threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
and (3) testing the states of the closed-day gyroscope accelerometers:
s20, the platform keeps the azimuth binding state, and the acceleration meter of the top in the direction of the sky is in the disconnection state;
s21, when receiving the closing direction gyro accelerometer instruction, if the platform returns to the closed state to the outside within the preset closing time, turning to S22, otherwise, the closed direction gyro accelerometer state test is unqualified;
s22, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
In an embodiment of the present invention, a method for determining that an acquired pre-discharge current value does not exceed a preset pre-discharge current threshold value includes: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
In one embodiment of the invention, a method for calculating the duty ratio PWM of the current of the torque motor of the zenith gyro accelerometer comprises the following steps:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
In an embodiment of the invention, in S22, the platform interprets and outputs 200ms output increments of the zenith gyroscope accelerometer, if the interpretation result is correct and is output within 4S, the state test of the closed zenith gyroscope accelerometer is qualified, otherwise, the state test of the closed zenith gyroscope accelerometer is unqualified.
The embodiment of the invention provides a method for testing a long-term power-on gyro accelerometer of a three-floating platform system, which is divided into an off-day-direction gyro accelerometer testing state and an on-day-direction gyro accelerometer testing state, and comprises the following steps:
disconnecting the test state of the gyro accelerometer:
s100, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a closed state;
s101, the control system sends a command of the gyro accelerometer on the day off, if the platform returns to the control system in a well-off state within a preset off time, the S102 is carried out, otherwise, the test of the gyro accelerometer on the day off state is unqualified;
s102, collecting a front discharge flow value of the zenith gyroscope accelerometer through a bus, if the collected front discharge flow value does not exceed a preset front discharge flow threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, and otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
closed-day gyroscope accelerometer test state:
s200, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a disconnection state;
s201, before the platform is locked to zero, the control system sends a closing direction gyro accelerometer instruction, if the platform returns to the control system in a closed state within preset closing time, the step is shifted to S202, and if the platform returns to the control system in a closed state, the closed direction gyro accelerometer state test is not qualified;
s202, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, and otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
In an embodiment of the present invention, a method for determining that an acquired pre-discharge current value does not exceed a preset pre-discharge current threshold value includes: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
In one embodiment of the invention, a method for calculating the duty ratio PWM of the current of the torque motor of the zenith gyro accelerometer comprises the following steps:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
In an embodiment of the invention, in S202, the platform interprets and outputs 200ms output increment of the zenith gyroscope accelerometer, if the interpretation result is correct and is output within 4S, the state test of the closed zenith gyroscope accelerometer is qualified, otherwise, the state test of the closed zenith gyroscope accelerometer is unqualified.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method for using the platform thermal ring gyro accelerometer to break precession provides a new technical scheme for improving the long-term power-on reliability of the platform system, effectively avoids the abrasion of an outer ring bearing and a power transmission device caused by the long-term precession of the Y gyro accelerometer, and improves the long-term power-on reliability service performance of the platform system on the premise of not increasing the manufacturing cost and difficulty of the instrument and meeting the precision requirement.
(2) The method breaks through the precision rapid evaluation technology of the gyro accelerometer in the application of the platform system, and utilizes the output information of the gyro accelerometer in the process of starting precession when the loop of the gyro accelerometer is closed under the azimuth binding state of the platform system.
(3) The stability time and the stability precision of the method are evaluated by adopting a trend analysis and statistical analysis method, and the problem of quick precision evaluation is solved. Compared with the traditional calibration method, the method answers the output stabilization time evaluation problem on a shorter time scale, effectively solves the precision evaluation problem in the thermal standby test process of the interrupted precession scheme, and provides support for the final application of the method.
(4) The flow design and platform state criterion suitable for the break-precession mode are provided, the platform state is quickly and accurately detected, the requirements of a standby test flow and reliability are met, and the quick response performance of the platform is ensured.
Drawings
FIG. 1 is a schematic view of a process for testing the state of an accelerometer of a gyroscopic gyroscope in an off-state.
FIG. 2 is a schematic diagram of a process for testing the state of a closed-day gyro accelerometer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
a method for judging reliability of a long-term power-on gyro accelerometer of a three-floating platform system comprises the following steps:
the skyndrome-oriented adding process is disconnected, as shown in fig. 1:
(1) the platform keeps an azimuth binding state, and the zenith gyroscope is closed;
(2) receiving an instruction of adding the gyroscope to the sky;
(3) returning to the state of 'the servo loop of the gyroscopic accelerometer in the sky is disconnected' through a 1553B bus RT18-SA2 within 200 ms;
(4) and performing the following interpretation on the gyro pre-amplification AD value monitoring quantity 'PIGA _ AMP' acquired by the bus: whether the monitoring quantity "PIGA _ AMP". 1.22 is between ± 300 (including 300), here the PIGA _ AMP word is converted into a current value, and whether the discharge current value before comparison is between ± 300. And continuously updating the detection information of the beta angle through a platform monitoring 1553B bus RT18-SA 20.
(5) And if the detection result is not qualified, the standby flow is exited.
Closed zenith addition process, as shown in fig. 2:
(1) before testing of the platform self-marking, self-aiming and control subsystems in the hot standby period, the platform system firstly locks zero, and before locking zero, the control system firstly sends a command of adding a table loop to the gyroscope in a closed day and then executes corresponding testing;
(2) receiving a closing instruction of the zenith gyroscope;
(3) returning to a state of 'good closed skyward gyroscope loop' through a 1553B bus RT18-SA2 within 200 ms;
(3) after the platform receives the control system instruction, the servo loop of the zenith gyro accelerometer is immediately disconnected, and a state of 'the disconnection of the servo loop of the zenith gyro accelerometer is good' is returned through a 1553B bus RT18-SA2 within 200 ms;
(4) after closing precession for a designated time, the platform monitoring software interprets the 200ms output increment of the zenith gyro accelerometer; and (3) finishing instrument output after the servo loop of the Y-gyro accelerometer is closed in the platform main control software 4s, namely: under the azimuth binding state, the output criterion of the heaven direction adding table, namely 'Ay 200ms increment', is within +/-40 of the heaven direction adding equivalent, and the adding table torque motor current 'PWM duty ratio' is within +/-100 percent, and the specific calculation method is as follows:
selecting corresponding standard gain according to the bound servo state phase state word of the gyro accelerometer, as shown in table 1:
TABLE 1
| Gain compensation status word | Corresponding standard gain K0 |
| Phase compensation standard gear | 2.29 |
| Phase compensation +5 degree | 1.97 |
| Phase compensation +10 degree | 1.71 |
| Phase compensation of-5 degrees | 2.55 |
| Phase compensation of-10 degrees | 2.78 |
From the servo state gain state words bound in table 1, the gain is calculated:
calculating and correcting the output PWM duty ratio of the network:
in the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
(5) If the last step is met, sending the command of 'self-checking normal' to the main control software; otherwise, sending the command of 'self-checking exception' to the main control software, and exiting the hot standby.
Example 2:
a method for judging the reliability of a long-term power-up gyro accelerometer of a three-floating platform system comprises the following steps:
and (3) testing the state of the gyro accelerometer in the direction of the disconnected sky:
s10, the platform keeps an azimuth binding state, and the acceleration meter of the top in the direction of the sky is in a closed state;
s11, when an order of the zenith gyroscope accelerometer is received, if the platform returns to a good disconnection state to the outside within the preset disconnection time, the platform is switched to S12, otherwise the test of the zenith gyroscope accelerometer state is unqualified;
s12, collecting a front discharge current value of the zenith gyroscope accelerometer, if the collected front discharge current value does not exceed a preset front discharge current threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
and (3) testing the states of the closed-day gyroscope accelerometers:
s20, the platform keeps the azimuth binding state, and the acceleration meter of the top in the direction of the sky is in the disconnection state;
s21, when receiving the closing direction gyro accelerometer instruction, if the platform returns to the closed state to the outside within the preset closing time, turning to S22, otherwise, the closed direction gyro accelerometer state test is unqualified;
s22, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
The method for judging that the collected front discharge current value does not exceed the preset front discharge current threshold value comprises the following steps: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
The calculation method of the duty ratio PWM of the current of the torque motor of the top accelerometer comprises the following steps:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
And in S22, the platform interprets and outputs 200ms output increment of the zenith gyroscope accelerometer, if the interpretation result is correct and is output within 4S, the closed zenith gyroscope accelerometer is qualified in state test, and otherwise, the closed zenith gyroscope accelerometer is unqualified in state test.
Example 3:
a method for testing a long-term power-up gyro accelerometer of a three-floating platform system comprises an off-day gyro accelerometer testing state and an on-day gyro accelerometer testing state, and comprises the following steps:
disconnecting the test state of the gyro accelerometer:
s100, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a closed state;
s101, the control system sends a command of the gyro accelerometer on the day off, if the platform returns to the control system in a well-off state within a preset off time, the S102 is carried out, otherwise, the test of the gyro accelerometer on the day off state is unqualified;
s102, collecting a front discharge flow value of the zenith gyroscope accelerometer through a bus, if the collected front discharge flow value does not exceed a preset front discharge flow threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, and otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
closed-day gyroscope accelerometer test state:
s200, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a disconnection state;
s201, before the platform is locked to zero, the control system sends a closing direction gyro accelerometer instruction, if the platform returns to the control system in a closed state within preset closing time, the step is shifted to S202, and if the platform returns to the control system in a closed state, the closed direction gyro accelerometer state test is not qualified;
s202, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, and otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
The method for judging that the collected front discharge current value does not exceed the preset front discharge current threshold value comprises the following steps: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
The calculation method of the duty ratio PWM of the current of the torque motor of the top accelerometer comprises the following steps:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
In S202, the platform interprets and outputs 200ms output increment of the top-down accelerometer, if the interpretation result is correct and is output in 4S, the state test of the top-down accelerometer on the closed top is qualified, otherwise, the state test of the top-down accelerometer on the closed top is unqualified.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. A method for judging reliability of a long-term power-up gyro accelerometer of a three-floating platform system is characterized by comprising the following steps of:
and (3) testing the state of the gyro accelerometer in the direction of the disconnected sky:
s10, the platform keeps an azimuth binding state, and the acceleration meter of the top in the direction of the sky is in a closed state;
s11, when an order of the zenith gyroscope accelerometer is received, if the platform returns to a good disconnection state to the outside within the preset disconnection time, the platform is switched to S12, otherwise the test of the zenith gyroscope accelerometer state is unqualified;
s12, collecting a front discharge current value of the zenith gyroscope accelerometer, if the collected front discharge current value does not exceed a preset front discharge current threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
and (3) testing the states of the closed-day gyroscope accelerometers:
s20, the platform keeps the azimuth binding state, and the acceleration meter of the top in the direction of the sky is in the disconnection state;
s21, when receiving the closing direction gyro accelerometer instruction, if the platform returns to the closed state to the outside within the preset closing time, turning to S22, otherwise, the closed direction gyro accelerometer state test is unqualified;
s22, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
2. The reliability determination method according to claim 1, wherein the method for determining that the collected pre-discharge current value does not exceed the preset pre-discharge current threshold value comprises: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
3. The reliability determination method according to claim 1, wherein the duty ratio PWM of the torque motor current of the gyro-accelerometer is calculated by:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
4. The reliability determination method according to claim 1, wherein in S22, the platform interprets and outputs 200ms increments of the output of the closed-loop gyro accelerometer, and if the interpretation result is correct and is output within 4S, the closed-loop gyro accelerometer status test is passed, otherwise the closed-loop gyro accelerometer status test is failed.
5. A method for testing a long-term power-up gyro accelerometer of a three-floating platform system is characterized by comprising the following steps of:
disconnecting the test state of the gyro accelerometer:
s100, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a closed state;
s101, the control system sends a command of the gyro accelerometer on the day off, if the platform returns to the control system in a well-off state within a preset off time, the S102 is carried out, otherwise, the test of the gyro accelerometer on the day off state is unqualified;
s102, collecting a front discharge flow value of the zenith gyroscope accelerometer through a bus, if the collected front discharge flow value does not exceed a preset front discharge flow threshold value, testing the state of the off-day gyroscope accelerometer to be qualified, and otherwise, testing the state of the off-day gyroscope accelerometer to be unqualified;
closed-day gyroscope accelerometer test state:
s200, the platform keeps an azimuth binding state, and an acceleration meter of the top in the direction of the sky is in a disconnection state;
s201, before the platform is locked to zero, the control system sends a closing direction gyro accelerometer instruction, if the platform returns to the control system in a closed state within preset closing time, the step is shifted to S202, and if the platform returns to the control system in a closed state, the closed direction gyro accelerometer state test is not qualified;
s202, the platform interprets and outputs output data of the zenith gyroscope accelerometer, if the interpretation result is correct and the output data is output within a preset time, the closed zenith gyroscope accelerometer is qualified in state test, and otherwise, the closed zenith gyroscope accelerometer is unqualified in state test;
the conditions for judging the correctness of the reading result are as follows: the 200ms accumulated output of the zenith gyro accelerometer does not exceed the preset equivalent of the zenith gyro accelerometer, and the duty ratio of the current of the torque motor of the zenith gyro accelerometer does not exceed +/-100%.
6. The method for testing the long-term power-on gyro accelerometer of the three-floating platform system according to claim 5, wherein the method for judging that the collected front discharge current value does not exceed the preset front discharge current threshold value comprises the following steps: the product of the acquired front discharge current value of the accelerometer of the gyroscopic accelerometer and a preset coefficient is not more than +/-300.
7. The method for testing the long-term power-on gyro accelerometer of the three-floating-platform system according to claim 5, wherein the method for calculating the duty ratio PWM of the torque motor current of the sky-direction gyro accelerometer comprises the following steps:
wherein
In the formula, PIGAx _ Drive is a torque motor current output word of the vertical gyro accelerometer, K0Is a standard gain, determined from the gain compensation status word.
8. The method for testing the long-term power-on gyro accelerometer of the three-floating-platform system according to claim 5, wherein in S202, the platform interprets and outputs 200ms output increment of the gyro accelerometer, if the interpretation result is correct and is output within 4S, the state test of the gyro accelerometer on the closed day is qualified, otherwise, the state test of the gyro accelerometer on the closed day is unqualified.
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| RU2285902C1 (en) * | 2005-04-15 | 2006-10-20 | Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения им. акад. Н.А. Пилюгина" (ФГУП "НПЦ АП") | Method for determining and compensating for deviation of gyro-stabilized platform and device for realization of said method |
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| CN102297694A (en) * | 2011-06-10 | 2011-12-28 | 北京航空航天大学 | Lightweight quick response aerial remote sensing inertial-stabilized platform controlling system |
| CN103697911A (en) * | 2013-12-18 | 2014-04-02 | 哈尔滨工程大学 | Initial attitude determination method for strapdown inertial navigation system under circumstance of unknown latitude |
| CN110361002A (en) * | 2019-07-15 | 2019-10-22 | 哈尔滨工程大学 | Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2285902C1 (en) * | 2005-04-15 | 2006-10-20 | Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения им. акад. Н.А. Пилюгина" (ФГУП "НПЦ АП") | Method for determining and compensating for deviation of gyro-stabilized platform and device for realization of said method |
| CN102009597A (en) * | 2010-11-03 | 2011-04-13 | 北京航空航天大学 | Magnetically suspended control moment gyro gimbal and locking control system |
| CN102297694A (en) * | 2011-06-10 | 2011-12-28 | 北京航空航天大学 | Lightweight quick response aerial remote sensing inertial-stabilized platform controlling system |
| CN103697911A (en) * | 2013-12-18 | 2014-04-02 | 哈尔滨工程大学 | Initial attitude determination method for strapdown inertial navigation system under circumstance of unknown latitude |
| CN110361002A (en) * | 2019-07-15 | 2019-10-22 | 哈尔滨工程大学 | Simplification inertial navigation system attitude measurement method suitable for roadbed vehicle |
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